


#include <ros/ros.h>
#include <geometry_msgs/Twist.h>


int main(int argc, char *argv[])
{
    ros::init(argc, argv, "control_turtle");

    ros::NodeHandle nh;

    ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 100);

    ros::Rate control_rate(10);
    while(ros::ok())
    {
        geometry_msgs::Twist msg;
        msg.linear.x = 0.5;
        msg.angular.z = 0.5;
        pub.publish(msg);

        ros::spinOnce();
        control_rate.sleep();
    }


}